def check_covered(dim, set1, list_of_covers):
em = ExprManager()
s_cover = SmtEngine(em)
real_type = em.realType()
x = [em.mkVar("x_[%s]" % (j + 1), real_type) for j in range(dim)]
list_of_constraints = []
#x \in set1
list_of_constraints.append(get_point_membership_constraint(em, x, set1))
#x is not in any of the covers
for cover in list_of_covers:
list_of_constraints.append(
em.mkExpr(CVC4.NOT, get_point_membership_constraint(em, x, cover)))
s_cover.assertFormula(get_cvc4_and(em, list_of_constraints))
chk = s_cover.checkSat()
if (chk == 1):
return False
else:
return True
def findCounterexample(self, asserts, query, timeout=None):
"""Tries to find a counterexample to the query while
asserts remains valid."""
self.em = ExprManager()
self.solver = SmtEngine(self.em)
if timeout is not None:
self.options['tlimit-per'] = timeout * 1000
for name, value in CVCWrapper.options.items():
self.solver.setOption(name, SExpr(str(value)))
self.solver.setLogic(CVCWrapper.logic)
self.query = query
self.asserts = asserts
result, model = self._findModel()
return result, model
def findCounterexample(self, asserts, query):
"""Tries to find a counterexample to the query while
asserts remains valid."""
self.em = ExprManager()
self.solver = SmtEngine(self.em)
for name, value in CVCWrapper.options.items():
self.solver.setOption(name, SExpr(str(value)))
self.solver.setLogic(CVCWrapper.logic)
self.query = query
self.asserts = self._coneOfInfluence(asserts, query)
result = self._findModel()
log.debug("Query -- %s" % self.query)
log.debug("Asserts -- %s" % asserts)
log.debug("Cone -- %s" % self.asserts)
log.debug("Result -- %s" % result)
return result
def findCounterexample(self, asserts, query, timeout=10**10):
starttime = time.process_time()
Z3Str2Wrapper.options['tlimit-per'] = timeout * 1000
self.solvetimeout = timeout
self.em = ExprManager()
self.solver = SmtEngine(self.em)
for name, value in Z3Str2Wrapper.options.items():
self.solver.setOption(name, SExpr(str(value)))
self.solver.setLogic(Z3Str2Wrapper.logic)
self.query = query
self.asserts = asserts
result, model = self._findModel()
endtime = time.process_time()
log.debug("Timeout -- %s" % timeout)
log.debug("Result -- %s" % result)
log.debug("Model -- %s" % model)
log.debug("Solver time: {0:.2f} seconds".format(timeout))
solvertime = endtime - starttime
return result, model, solvertime
def findCounterexample(self, asserts, query, timeout=None):
"""Tries to find a counterexample to the query while
asserts remains valid."""
startime = time.process_time()
self.em = ExprManager()
self.solver = SmtEngine(self.em)
if timeout is not None:
self.options['tlimit-per'] = timeout * 1000
for name, value in CVCWrapper.options.items():
self.solver.setOption(name, SExpr(str(value)))
self.solver.setLogic(CVCWrapper.logic)
self.query = query
self.asserts = asserts
result, model = self._findModel()
endtime = time.process_time()
log.debug("Timeout -- %s" % timeout)
log.debug("Result -- %s" % result)
log.debug("Model -- %s" % model)
log.debug("Solver time: {0:.2f} seconds".format(endtime - startime))
solvertime = endtime - startime
return result, model, solvertime
def main():
em = ExprManager()
smt = SmtEngine(em)
# Prove that for integers x and y:
# x > 0 AND y > 0 => 2x + y >= 3
integer = em.integerType()
x = em.mkVar("x", integer)
y = em.mkVar("y", integer)
zero = em.mkConst(Rational(0))
x_positive = em.mkExpr(CVC4.GT, x, zero)
y_positive = em.mkExpr(CVC4.GT, y, zero)
two = em.mkConst(Rational(2))
twox = em.mkExpr(CVC4.MULT, two, x)
twox_plus_y = em.mkExpr(CVC4.PLUS, twox, y)
three = em.mkConst(Rational(3))
twox_plus_y_geq_3 = em.mkExpr(CVC4.GEQ, twox_plus_y, three)
formula = Expr(em.mkExpr(CVC4.AND, x_positive,
y_positive)).impExpr(Expr(twox_plus_y_geq_3))
print "Checking validity of formula " + formula.toString() + " with CVC4."
print "CVC4 should report VALID."
print "Result from CVC4 is: " + smt.query(formula).toString()
return 0
def main():
em = ExprManager()
smt = SmtEngine(em)
# Prove that for integers x and y:
# x > 0 AND y > 0 => 2x + y >= 3
integer = em.integerType()
x = em.mkVar("x", integer)
y = em.mkVar("y", integer)
zero = em.mkConst(Rational(0))
x_positive = em.mkExpr(CVC4.GT, x, zero)
y_positive = em.mkExpr(CVC4.GT, y, zero)
two = em.mkConst(Rational(2))
twox = em.mkExpr(CVC4.MULT, two, x)
twox_plus_y = em.mkExpr(CVC4.PLUS, twox, y)
three = em.mkConst(Rational(3))
twox_plus_y_geq_3 = em.mkExpr(CVC4.GEQ, twox_plus_y, three)
formula = Expr(em.mkExpr(CVC4.AND, x_positive, y_positive)).impExpr(Expr(twox_plus_y_geq_3))
print "Checking validity of formula " + formula.toString() + " with CVC4."
print "CVC4 should report VALID."
print "Result from CVC4 is: " + smt.query(formula).toString()
return 0
def get_controller_cvc4(Theta, initial_size, A, B, u_dim, u_poly, target,
avoid_list, avoid_list_dynamic, safe, num_steps,
Q_multiplier):
#set safe to be None if you want to run the avoid_list version. Else set avoid_list to be None
P, radius_dim, _, lam, G = get_overapproximate_rectangles(
A, B, Q_multiplier, num_steps)
radius_list = radius_without_r0(P, radius_dim, num_steps, lam)
K = G * (-1)
x_dim = len(radius_list[0])
sqrt_dim_inverse = 10000.0 / (math.floor(math.sqrt(x_dim * 100000000.0)))
em = ExprManager()
s = SmtEngine(em)
s.setOption("produce-models", SExpr("true"))
real_type = em.realType()
x = [[
em.mkVar("x_ref_%s[%s]" % (i, j + 1), real_type) for j in range(x_dim)
] for i in range(num_steps + 1)]
u = [[
em.mkVar("u_ref_%s[%s]" % (i, j + 1), real_type) for j in range(u_dim)
] for i in range(num_steps)]
r = em.mkVar("r0", real_type)
initial_rectangle = []
for i in range(x_dim):
rl_mult_r = em.mkExpr(CVC4.MULT, get_cvc4_const(em, radius_list[0][i]),
r)
lo = em.mkExpr(CVC4.MINUS, x[0][i], rl_mult_r)
hi = em.mkExpr(CVC4.PLUS, x[0][i], rl_mult_r)
initial_rectangle.append((lo, hi))
if print_detail:
print("Adding constraints ... ")
if safe is None:
add_constraints(s, em, x, u, r, Theta, radius_list, x_dim, A, u_dim, B,
u_poly, target, avoid_list, avoid_list_dynamic,
initial_rectangle, num_steps)
else:
add_constraints_safety(s, em, x, u, r, Theta, radius_list, x_dim, A,
u_dim, B, u_poly, target, safe,
initial_rectangle, num_steps)
if print_detail:
print("Done adding main constraints ... ")
first_trajectory_found = False
s.push()
if print_detail:
print("Now adding Theta constraints ... ")
add_Theta_constraint(s, em, Theta, x[0], True)
s.push()
if print_detail:
print("Done adding Theta constraints ... ")
print("Now adding radius constraints ... ")
add_radius_constraint(s, em, r, get_cvc4_const(em, initial_size))
if print_detail:
print("Done adding radius constraints ... ")
Theta_has_been_covered = False
number_of_steps_initial_size_has_been_halved = 0
num_iters = 0
covered_list = []
trajectory_radius_controller_list = [
] #List of tuples of the form (trajectory, radius_list)
if print_detail:
print("Starting iterations")
while ((not Theta_has_been_covered) and
number_of_steps_initial_size_has_been_halved < max_decrease_steps
and num_iters < max_num_iters):
num_iters = num_iters + 1
s_check = s.checkSat()
if print_detail:
print("checked")
if (s_check.isSat() == 1):
# trajectory_radius_controller_list = [[]]
trajectory = [[
s.getValue(x[i][j]).getConstRational().getDouble()
for j in range(x_dim)
] for i in range(num_steps + 1)]
controller = [[
s.getValue(u[i][j]).getConstRational().getDouble()
for j in range(u_dim)
] for i in range(num_steps)]
rad = s.getValue(r).getConstRational().getDouble()
init_point = trajectory[0]
init_radius = [
r_i * rad * sqrt_dim_inverse for r_i in radius_list[0]
]
cover = []
for i in range(len(init_point)):
x_i = init_point[i]
r_i = init_radius[i]
cover.append((x_i - r_i, x_i + r_i))
covered_list.append((True, cover))
Theta_has_been_covered = check_covered(x_dim, Theta, covered_list)
trajectory_radius_controller_list.append(
(trajectory, [[rad * rad_dim for rad_dim in rad_step]
for rad_step in radius_list], controller))
if print_detail:
print("Found trajectory from:", trajectory[0],
"with radius = ", init_radius[0])
if not first_trajectory_found:
first_trajectory_found = True
s.pop()
s.pop()
add_Theta_constraint(s, em, Theta, x[0], False)
else:
s.pop()
add_cover_constraint(s, em, (True, cover), x[0], initial_rectangle)
s.push()
add_radius_constraint(s, em, r, get_cvc4_const(em, initial_size))
else:
if print_detail:
print("Fails for:", initial_size)
initial_size = initial_size * multiplicative_factor_for_radius
number_of_steps_initial_size_has_been_halved = number_of_steps_initial_size_has_been_halved + 1
s.pop()
s.push()
add_radius_constraint(s, em, r, get_cvc4_const(em, initial_size))
print("Number of iterations: " + str(num_iters))
return (K, trajectory_radius_controller_list, covered_list, num_iters)
def __compute_models(self,
model,
num,
blocking_manager,
constraints=None,
shared_objects=None):
opts = Options()
opts.setInputLanguage(CVC4.INPUT_LANG_CVC4)
exit_with_unknown = False
if shared_objects is None:
shared_objects = []
exprmgr = ExprManager(opts)
smt = SmtEngine(exprmgr)
smt.setOption("produce-models", SExpr(True))
smt.setOption("fmf-bound", SExpr(True))
smt.setOption("macros-quant", SExpr(True))
smt.setOption("finite-model-find", SExpr(True))
# smt.setOption("repeat-simp", SExpr(True))
# smt.setOption("check-models", SExpr(True))
# smt.setOption("full-saturate-quant", SExpr(True))
smt.setOption("incremental", SExpr(True))
ind = 0
assertions = blocking_manager.compute_from_sharedobjs(shared_objects)
model = model + assertions
if constraints:
model += "\n%s;" % (constraints)
parserbuilder = ParserBuilder(exprmgr, "", opts)
parserbuilder.withStringInput(model)
parser = parserbuilder.build()
symboltable = parser.getSymbolTable()
blocking_manager.exprmgr = exprmgr
blocking_manager.symboltable = symboltable
while True:
cmd = parser.nextCommand()
if not cmd: break
cmd.invoke(smt)
while True:
checksat = CheckSatCommand()
checksat.invoke(smt)
sat = checksat.getResult().isSat() == 1
unk = checksat.getResult().isUnknown()
uns = (not sat) and (not unk)
Logger.log("sat: %s, uns: %s, unk: %s" % (sat, uns, unk), 2)
exitcond = (not sat) if exit_with_unknown else uns
if exitcond:
return (shared_objects, 0)
(bclauses, shared_obj) = blocking_manager.compute_from_smt(smt)
Logger.log("%s" % str(shared_obj), 2)
if shared_obj not in shared_objects:
shared_objects.append(shared_obj)
else:
if constraints is not None:
return (shared_objects, 2)
for bclause in bclauses:
assertion = AssertCommand(bclause)
assertion.invoke(smt)
Logger.msg(".", 0, constraints is None, 0)
ind += 1
if (num != -1) and (ind >= num):
return (shared_objects, 1)
return (None, -1)